The Department for Transport review, carried out over the past six months, considered the best and safest ways to trial automated vehicles where an individual is ready to take control of the car if necessary.
It also looked further ahead to the implications of testing fully automated vehicles, which are expected to help reduce road accidents and improve traffic flow.
The review provides legal clarity to encourage UK and international industry to come to Britain to invest in and pioneer the technology, which is expected to be a £900 billion industry by 2025.
Transport Minister Claire Perry said: “Driverless cars are the future. I want Britain to be at the forefront of this exciting new development, to embrace a technology that could transform our roads and open up a brand new route for global investment.
“These are still early days but today is an important step. The trials present a fantastic opportunity for this country to take a lead internationally in the development of this new technology.”
To mark the launch of the review, Business Secretary Vince Cable will join Ms Perry in Greenwich, home to one of the projects benefitting from £19 million government funding for driverless cars trials.
The ministers will witness the first official trials of the fully autonomous Meridian shuttle and unveil a prototype of a driverless pod that will be tested in public areas of Milton Keynes in summer.
They will also view other autonomous vehicles involved in the trials, including a BAE wildcat vehicle that is the result of years of advanced research and development by BAE systems and will be tested in Bristol.